Consensus algorithms allow a network of agents to agree on a value for its internal state in a distributed fashion by using only communication among neighbors [1]}. For this reason, they have attracted a great deal of attention in the field of automatic control, self-organizing systems and sensor networks [2]}, with applications, for instance, to flocking [3]}, formation control [4]}, [5]}, [6]}, distributed resource allocation [7]}, [8]}, distributed map formation [9]} and reliable filter design for sensor networks with random failures [2]}.
